Tesseract
Motion Planning Environment
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Public Types | Public Member Functions | Private Attributes | List of all members
tesseract_collision::ConvexDecompositionVHACD Class Reference

#include <convex_decomposition_vhacd.h>

Inheritance diagram for tesseract_collision::ConvexDecompositionVHACD:
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Collaboration diagram for tesseract_collision::ConvexDecompositionVHACD:
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Public Types

using Ptr = std::shared_ptr< ConvexDecompositionVHACD >
 
using ConstPtr = std::shared_ptr< const ConvexDecompositionVHACD >
 
- Public Types inherited from tesseract_collision::ConvexDecomposition
using Ptr = std::shared_ptr< ConvexDecomposition >
 
using ConstPtr = std::shared_ptr< const ConvexDecomposition >
 

Public Member Functions

 ConvexDecompositionVHACD ()=default
 
 ConvexDecompositionVHACD (const VHACDParameters &params)
 
std::vector< tesseract_geometry::ConvexMesh::Ptrcompute (const tesseract_common::VectorVector3d &vertices, const Eigen::VectorXi &faces) const override
 Run convex decomposition algorithm. More...
 
- Public Member Functions inherited from tesseract_collision::ConvexDecomposition
 ConvexDecomposition ()=default
 
virtual ~ConvexDecomposition ()=default
 
 ConvexDecomposition (const ConvexDecomposition &)=default
 
ConvexDecompositionoperator= (const ConvexDecomposition &)=default
 
 ConvexDecomposition (ConvexDecomposition &&)=default
 
ConvexDecompositionoperator= (ConvexDecomposition &&)=default
 
virtual std::vector< tesseract_geometry::ConvexMesh::Ptrcompute (const tesseract_common::VectorVector3d &vertices, const Eigen::VectorXi &faces) const =0
 Run convex decomposition algorithm. More...
 

Private Attributes

VHACDParameters params_
 

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ ConvexDecompositionVHACD() [1/2]

tesseract_collision::ConvexDecompositionVHACD::ConvexDecompositionVHACD ( )
default

◆ ConvexDecompositionVHACD() [2/2]

tesseract_collision::ConvexDecompositionVHACD::ConvexDecompositionVHACD ( const VHACDParameters params)

Member Function Documentation

◆ compute()

std::vector< tesseract_geometry::ConvexMesh::Ptr > tesseract_collision::ConvexDecompositionVHACD::compute ( const tesseract_common::VectorVector3d vertices,
const Eigen::VectorXi &  faces 
) const
overridevirtual

Run convex decomposition algorithm.

Parameters
verticesThe vertices
facesA vector of triangle indicies. Every face starts with the number of vertices followed the the vertice index
Returns

Implements tesseract_collision::ConvexDecomposition.

Member Data Documentation

◆ params_

VHACDParameters tesseract_collision::ConvexDecompositionVHACD::params_
private

The documentation for this class was generated from the following files: